Inverse Pendulum Demos

- Simulation of a controlled inverse Pendulum -

- (click on image to download AVI-File) -

Content

• Uncontrolled Pendulum
• State Feedback Controlled
• Fuzzy Logic Controlled
• Combinations of Different Controllers

Uncontrolled Pendulum
	InvPendPassive.avi, 839KB, 0:08min Uncontrolled inverse pendulum starting with a very slow velocity of pendulum and slider.
	InvPendDisturbed.avi, 1.54MB, 0:15min Uncontrolled inverse pendulum disturbed by a random force visualized by a transparent yellow arrow (the size is proportional to the force).
State Feedback Controlled
	InvPendDisturbedSF.avi, 3.00MB, 0:30min Inverse pendulum disturbed by a random force on the pendulum and controlled by a state feedback controller. The movie is running at half speed.
	InvPendSF.avi, 2.14MB, 0:22min Inverse pendulum controlled by a state feedback controller with changing destinations. The constants of the state feedback are: -55 (s), -48 (s'), -300 (φ), -126 (φ') The movie is running at half speed.
	InvPendSFLimited.avi, 1.43MB, 0:14min Inverse pendulum controlled by a the same state feedback controller as above. The force of the linear drive is limited to 15N and the arrow is painted red if the controller tries to apply a higher force than possible. Furthermore colliding objects are marked red.
	PendSF.avi, 1.20MB, 0:12min Non-inverted pendulum controlled by a state feedback controller. The constants of the state feedback are: 95 (s), 64 (s'), 20 (φ), 103 (φ')
	PendSFLimited.avi, 1.25MB, 0:12min Non-inverted pendulum controlled by a the same state feedback controller as above. The force of the linear drive is limited to 15N and the arrow is painted red if the controller tries to apply a higher force than possible.
Fuzzy Logic Controlled
	InvPendFLLimited1.avi, 2.23MB, 0:35min Inverse pendulum balanced by a fuzzy logic controller.
	InvPendFLSwingUp.avi, 2.62MB, 0:28min Pendulum starting as non-inverted with a fuzzy logic controller trying to swing it up.
Combinations of Different Controllers
	InvPendFLSFCombo.avi, 1.41MB, 0:15min Inverse pendulum swung up by a fuzzy logic controller and after reaching a specific angle balanced by a state feedback controller.